Marlene Pinnock, the 51-year-old woman punched repeatedly by California Highway Patrol officer Daniel Andrew on the side of a freeway in an incident caught on video, will receive $1.5 million under a settlement reached Wednesday night, and the officer has agreed to resign.

On July 1, a passing driver captured video of Pinnock being repeatedly pummeled by Andrew, and she filed suit in August.

The Associated Press reports that Pinnock and the CHP reached an agreement after a lengthy mediation.

“When this incident occurred, I promised that I would look into it and vowed a swift resolution,” CHP Commissioner John Farrow said in a statement. “Today, we have worked constructively to reach a settlement agreement that is satisfactory to all parties involved.”

The statement said that Officer Andrew, who joined the CHP in 2012 and has been on paid administrative leave since the incident, “has elected to resign.”